Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing With a Legged Robot

This paper contributes to quantifying the notion of robotic fitness by developing a set of necessary conditions that determine whether a small quadruped has the ability to open a class of doors or climb a class of stairs using only quasi-static maneuvers. After verifying that several such machines from the recent robotics literature are mismatched in this sense to the common human scale environment, we present empirical workarounds for the Minitaur quadrupedal platform that enable it to leap up, force the door handle and push through the door, as well as bound up the stairs, thereby accomplishing through dynamical maneuvers otherwise (i.e., quasi-statically) achievable tasks. For more information: Kod*la

Sensors for Robotic Hands: A Survey of State of the Art

Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors.We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands

A framework for compliant physical interaction : the grasp meets the task

Although the grasp-task interplay in our daily life is unquestionable, very little research has addressed this problem in robotics. In order to fill the gap between the grasp and the task, we adopt the most successful approaches to grasp and task specification, and extend them with additional elements that allow to define a grasp-task link. We propose a global sensor-based framework for the specification and robust control of physical interaction tasks, where the grasp and the task are jointly considered on the basis of the task frame formalism and the knowledge-based approach to grasping. A physical interaction task planner is also presented, based on the new concept of task-oriented hand pre-shapes. The planner focuses on manipulation of articulated parts in home environments, and is able to specify automatically all the elements of a physical interaction task required by the proposed framework. Finally, several applications are described, showing the versatility of the proposed approach, and its suitability for the fast implementation of robust physical interaction tasks in very different robotic systems

Automation of product packaging for industrial applications

[EN] This work presents a robotic-based solution devised to automate the product packaging in industrial environments. Although the proposed approach is illustrated for the case of the shoe industry, it applies to many other products requiring similar packaging processes. The main advantage obtained with the automated task is that productivity could be significantly increased. The key algorithms for the developed robot system are: object detection using a computer vision system; object grasping; trajectory planning with collision avoidance; and operator interaction using a force/torque sensor. All these algorithms have been experimentally tested in the laboratory to show the effectiveness and applicability of the proposed approach.This work has been partly supported by Ministerio de Economia y Competitividad of the Spanish Government [Grant No. RTC201654086 and PRI-AIBDE-2011-1219], by the Deutscher Akademischer Austauschdienst (DAAD) of the German Government (Projekt-ID 54368155) and by ROBOFOOT project [Grant No. 260159] of the European Commission.Perez-Vidal, C.; Gracia, L.; De Paco, J.; Wirkus, M.; Azorin, J.; De Gea, J. (2018). Automation of product packaging for industrial applications. International Journal of Computer Integrated Manufacturing. 31(2):129-137. https://doi.org/10.1080/0951192X.2017.1369165S12913731

Dataset of Tactile Signatures of the Human Right Hand in Twenty-One Activities of Daily Living Using a High Spatial Resolution Pressure Sensor

Successful grasping with multi-fingered prosthetic or robotic hands remains a challenge to be solved for the effective use of these hands in unstructured environments. To this end, currently available tactile sensors need to improve their sensitivity, robustness, and spatial resolution, but a better knowledge of the distribution of contact forces in the human hand in grasping tasks is also necessary. The human tactile signatures can inform models for an efficient control of the artificial hands. In this study we present and analyze a dataset of tactile signatures of the human hand in twenty-one representative activities of daily living, obtained using a commercial high spatial resolution pressure sensor. The experiments were repeated for twenty-two subjects. The whole dataset includes more than one hundred million pressure data. The effect of the task and the subject on the grip force and the contribution to this grip force made by the different hand regions were analyzed. We also propose a method to effectively synchronize the measurements from different subjects and a method to represent the tactile signature of each task, highlighting the hand regions mainly involved in the task. The correlations between hand regions and between different tasks were also analyzed

Hands in the Real World

Robots face a rapidly expanding range of potential applications beyond controlled environments, from remote exploration and search-and-rescue to household assistance and agriculture. The focus of physical interaction is typically delegated to end-effectors -- fixtures, grippers or hands -- as these machines perform manual tasks. Yet, effective deployment of versatile robot hands in the real world is still limited to few examples, despite decades of dedicated research. In this paper we review hands that found application in the field, aiming to discuss open challenges with more articulated designs, discussing novel trends and perspectives. We hope to encourage swift development of capable robotic hands for long-term use in varied real world settings. The first part of the paper centers around progress in artificial hand design, identifying key functions for a variety of environments. The final part focuses on the overall trends in hand mechanics, sensors and control, and how performance and resiliency are qualified for real world deployment

Analysis of Grasp Requirements for Telerobotic Satellite Servicing

There is an established need to service satellites while on-orbit. Teleoperated robots may conduct this servicing, if the grasps required to perform these tasks are identified and understood. By studying Hubble Space Telescope Servicing Mission 3B, the human grasps used for servicing satellites are identified. Based on the human grasps, a robotic grasp taxonomy is developed. The grasps required for robotic satellite servicing are described in this study in terms of end-effector requirements. Also presented is the relative use of each end-effector. In order to apply the findings here for Servicing Mission 3B to general satellite servicing mission, a task analysis is presented. This displays the end-effector requirements for each type of task performed, which may be applied to similar tasks on future servicing missions